One of the commonly used methods for HRI is Mixed Initiative Human-Robot Interaction (MI-HRI). The term `Mixed-initiative' (MI) was first introduced in 1970 in the context of computer-assisted instruction systems [1]}. This definition was followed by several others in the domain of Human-Computer Interaction (HCI) [2]}, [3]}, [4]}, where MI was proposed as a method to enable both agents and humans to contribute in planning and problem-solving according to their knowledge and skills. Motivated by the previous definitions, Jiang and Arkin [5]} presented the most common definition for MI-HRI, which states that `an initiative (task) is mixed only when each member of a human-robot team is authorized to intervene and seize control of it' [5]}. According to this definition, the term `initiative' in MI-HRI systems refers to a task of the mission, ranging from low-level control to high-level decisions, that could be performed and seized by either the robot or the human [5]}. This means that both agents (robot and human) may have tasks to perform within a mission, and both can completely takeover tasks from each other. Unlike MI, in JISA the term `initiative' is used to refer to `initiating the human assistance,' and it is considered joint since this assistance is initiated either by the autonomous agent's request or by the human supervisor. Another difference between JISA and MI-HRI is that all tasks within a JISA system are performed by the robot; albeit, human assistance is requested/provided to overcome certain challenges and limitations.
